I traded in an Avalon and I am truly impressed by the difference in ride and feel. The steering is ultra smooth with no play or noises. Road noise is minimal. The backup camera and parking assist radar has turned out to be a truly useful feature. The seats are very comfortable and not fatiguing.The adaptive headlights are pretty nice as well. After having used the navigation system I can't imagine not having a car without it. Next time out I may get another ES or perhaps try one of the big boy Lexuses.